Project Scope

Take a object free room,A mobile robot must localize a sound source and navigate to that location.

Methodology:

Use a 2 mic arrays consisting of 2 mics  in one array. And localize the location using Matlab.
The method planned to use was TDOA (Time Delay Of Arrival) of the sound waves.

Then the location is sent to a mobile robot through a wireless communication, By using a predefined grid on the roomrobot will navigate to the location using wheel encorder.

Obstacle  :  Noise of the room, robot must trigger only for a particular sound source.
Solution  :  Use a band pass filter and remove all unwanted noises.

Obstacle  :  Sound  attenuation
Solution   :  As we consider a indoor environment, its few meters and sound will travel with negligible
                  attenuation

Obstacles  : Sound Reflections from wall
Solution    : The delay occurs from the sounds reflected is very large compared to TDOA between 2
                   mics, so we can program to ignore them.